JPH10275015A - Mobile remote control device - Google Patents

Abstract

(57) [Summary] (With correction) [Problem] To improve operability of remote control. A distance from a moving body to an object outside the moving body and a position change ratio of the moving body are measured and transmitted to a monitoring station together with a distance image at regular time intervals. The monitoring station calculates the moving distance of the moving object from the time when the previous distance image 40 was generated until a predetermined time t has elapsed based on the transmitted content, and calculates each pixel 50 of the distance image 40. By changing the distance data by a considerable amount, a predicted distance image 42 in the middle of a predetermined time t from the time when the previous distance image 40 was generated is generated. The predicted distance image 42 thus generated is inserted and displayed between the previous distance image 40 and the distance image 41 transmitted from the moving object 10 next.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control device for remotely controlling a moving body such as an unmanned dump truck, and more particularly to a device for remotely controlling a moving body while detecting an obstacle present along a traveling road surface in front of the moving body. About.

[0002]

2. Description of the Related Art In an unmanned mobile body such as an unmanned dump truck, it is impossible to perform an unmanned operation completely in terms of safety and the like. Therefore, an obstacle existing on a traveling road surface in front of the mobile body is detected. At the same time, the detected result is sent to a monitoring station, and the monitoring station remotely controls the mobile unit with the intervention of an operator.

As a conventional obstacle detecting apparatus, there is an apparatus which detects an obstacle in the forward direction of a moving body by using an ultrasonic sensor, a laser radar, or a millimeter wave sensor. There is an aspect that the viewing angle is narrow and an obstacle cannot be detected in a wide range. Therefore, as compared with the above-described ultrasonic sensor, laser radar, and obstacle detection device using a millimeter wave sensor, the amount of information obtained is large, and there is an advantage that an obstacle can be detected in a wide viewing angle and a wide range. 2. Description of the Related Art Devices that detect an obstacle by capturing an image in front of a moving object and processing the captured image have been used.

[0004]

Image information is very effective in realizing remote control with high operability. A monitoring station acquires continuous image information in a remote place in real time such as a television broadcast. Ideally you can.

However, mounting a large-scale broadcasting station on a mobile unit only for the purpose of remotely controlling or monitoring the mobile unit such as a construction machine is impossible in terms of space and cost. There is, in reality, impossible. For this reason, an image transmitter, which is compatible with space and cost, is mounted on a mobile body, and the image transmitter transmits an image to a monitoring station. In recent years, spread spectrum communication systems and the like have been adopted.

However, the image transmission capability of such an image transmitter that can be mounted on a mobile object is low at present, and it has not been possible to transmit images in real time, and the number of images (frames) that can be transmitted per second is limited. ing. For this reason, the operator had to rely on an image such as frame-by-frame for remote control, and the operability was significantly impaired.

The present invention has been made in view of such circumstances, and predicts, with extremely high accuracy, a previous image transmitted from a mobile unit to a monitoring station and an intermediate image of an image transmitted next. By inserting this predicted image between the previous image and the next image to be transmitted, real-time images are displayed at the monitoring station while compensating for the low transmission capacity, and the operability of remote operation is improved. Dramatic improvement is the first
It is the purpose of.

Further, since it takes time to transmit an image from a mobile unit to a monitoring station, an image is displayed at the monitoring station with a delay corresponding to the transmission delay time.

It is a second object of the present invention to compensate for this delay in image transmission and to display the current image as a predicted image.

[0010] In order to improve the remote operability of the unmanned dump truck, the viewpoint of the camera as an image pickup device can be freely changed according to the driving situation, and the image of the viewpoint according to the driving situation can be displayed on the monitoring station. Is desirable.

In the case of remotely operating a power shovel, if the camera viewpoint can be moved in the lateral direction of the work surface in accordance with the work situation and an image corresponding to the view can be displayed, a slope work or the like can be performed. Can be expected to improve workability.

However, the camera is usually fixed at a fixed position, and displaying an image from a free viewpoint by moving the position of the camera is difficult due to the necessity of providing a complicated mechanism. There are many.

A third object of the present invention is to enable an image of a desired viewpoint to be displayed only by simple processing without providing a complicated mechanism.

[0014]

Means and effects for solving the problems
In order to achieve the object, in the main invention of the first invention of the present invention, an image captured by an imaging device mounted on a moving body and imaging the outside of the moving body is transmitted to a monitoring station at regular intervals, In the remote control device of the mobile body to remotely control the mobile body based on the captured image received at the monitoring station, as the imaging device, from the reference position, measure the distance to the object outside the mobile body, Along with providing a distance image generating means for generating a distance image of the object, the moving body,
Measuring means for measuring a change in the position of the moving object, and a transmitting means for transmitting the measurement result of the measuring means to the monitoring station, further provided in the monitoring station, based on the measurement result of the measuring means, Calculating means for calculating a moving distance of the moving body from the time when the distance image is generated last time by the distance image generating means until a predetermined time smaller than the predetermined time elapses, based on a calculation result of the calculating means The distance data of each pixel of the distance image is changed by the moving distance to generate a predicted distance image in which the predetermined time elapses from the time when the previous distance image was generated. Means, and display means for inserting and displaying the predicted distance image generated by the predicted distance image generating means between the previous distance image and the next distance image transmitted from the moving body. We are kicking way.

That is, according to the configuration of the present invention, as shown in FIGS. 1, 3, 4, and 5, the distance from the reference position of the moving body 10 to an object outside the moving body 10 is measured. A distance image 40 of the object is generated. Further, the position change V of the moving body 10 is measured. These are the monitoring stations 20
Sent to.

In the monitoring station 20, based on the transmitted contents, the moving distance L1 of the mobile unit 10 from the time when the previous distance image 40 was generated until a predetermined time t smaller than the predetermined time Δt has elapsed. = V · t is calculated. And
By changing the distance data d of each pixel 50 of the distance image 40 by the moving distance L1 (d−L1), the predicted distance image 42 in the middle of a certain time Δt from the time when the previous distance image 40 was generated. (43,44,45,46)
Is generated. The predicted distance image 42 thus generated
(43, 44, 45, 46) are inserted and displayed between the previous distance image 40 and the next distance image 41 transmitted from the moving object 10.

According to another aspect of the first aspect of the present invention, by utilizing information indicating a change in the position / posture of the moving body 10 in each direction, as shown in FIGS. The vehicle body coordinate system XY- at the time when the predetermined time t has elapsed
A three-dimensional coordinate position of each pixel 50 of the Z distance image 60 is obtained, and a predicted distance image 62 is generated based on the three-dimensional coordinate position.

As described above, according to the present invention, image processing for changing the distance data or the three-dimensional coordinate position of the pixel of the previous distance image based on the movement information of the moving object by an amount corresponding to the movement information is performed. As a result, the previous distance image (the latest distance image) and the predicted distance image in the middle of the next transmitted distance image are generated extremely accurately and at high speed. The predicted distance image generated in this manner is inserted between the previous distance image and the next transmitted distance image, thereby compensating for low image transmission performance and real-time images (for example, video rate). , 30 frames /
Second) is displayed on the monitoring station. Remote control based on this real-time image greatly improves remote controllability.

In order to achieve the second object, according to the second aspect of the present invention, in the configuration of the first aspect, as shown in FIGS. Assuming that a transmission delay time required for transmitting the image 60 is Td and a time when the previous distance image 60 is generated is t1, a predicted distance at a time t1 + t, which is a time t elapsed from the time t1 in consideration of the transmission delay time Td. Image 62 (6
3, 64, 65) are generated, and the previous distance image 60
Is displayed on the display means 23 of the monitoring station 20 at the time t1 + Td, and when the time t-Td elapses, the predicted distance image 62 at the time t1 + t is displayed.

As described above, the delay time of the image transmission from the mobile unit 10 to the monitoring station 20 is compensated, and the image at the present time t1 + t can be displayed as the predicted distance image 62 (63, 64, 65).

Further, in order to achieve a third object, in a second invention of the present invention, in another invention of the first invention,
By performing a process of changing the origin position of the vehicle body coordinate system XYZ by a predetermined amount in the predetermined coordinate axis direction (for example, by changing H in the vertical Y axis direction), the display means 23 is changed.
Is moved upward by H0.

As described above, an image of a desired viewpoint can be displayed only by simple processing without providing a complicated mechanism for moving the position of the camera.

[0023]

Embodiments of the present invention will be described below with reference to the drawings.

In this embodiment, when a moving body 10 such as an unmanned dump truck travels on a traveling path 31 as shown in FIG. 4, a tree 32, a house 33, and other vehicles 3 seen in front of the traveling body 31.
It is assumed that a traveling image of the moving object 10 is remotely controlled by generating a distance image composed of four or the like and determining the presence or the like of an obstacle by an operator of the monitoring station based on the distance image.

According to the present invention, the content of the remote operation is arbitrary, and is not limited to the case where the traveling of the moving body is remotely controlled, and the case where the moving body traveling while performing the predetermined work with the predetermined work machine is remotely controlled. It is also applicable to the case. For example,
When excavating an object with a power shovel, if the present invention is applied, information such as the distance to the object to be excavated during or after movement and its shape can be obtained in real time. Remote maneuverability can be dramatically improved.

In FIG. 6, XYZ is the moving object 10.
2 shows a vehicle body coordinate system that moves with the vehicle. X is a coordinate axis corresponding to the vehicle width direction of the moving body 10, and Z is the moving body 1
0 is a coordinate axis corresponding to the traveling direction of 0 (traveling path 31),
Y is a vertical coordinate axis.

FIG. 1 shows the configuration of a remote control device for a mobile object according to an embodiment of the present invention.

As shown in FIG. 1, this remote device is roughly composed of an on-board device mounted on a mobile unit 10 and a monitoring station 20.
It consists of

The on-vehicle device of the moving body 10 is configured to move from a reference position (reference plane) on the moving body 10 to each object in front of the moving body 10 based on an image picked up by a camera mounted on the moving body 10. A distance image generation unit 11 that measures a distance and generates a three-dimensional distance image in which distance data d indicating the distance from the reference position and two-dimensional coordinate position data (i, j) are associated with each pixel; The distance image generated by the distance image generation unit 11 is transmitted from the antenna 1 to the monitoring station 20 at regular time intervals Δt.
An image transmitter 13 that wirelessly transmits the moving object 5 and an internal sensor of the moving object 10, and a measuring unit 12 that measures a position change of the moving object 10 or a position / posture change in each direction.
And a sensor signal transmitter 14 that wirelessly transmits the measurement result of the measurement unit 12 to the monitoring station 20 via the antenna 16.

On the other hand, the monitoring station 20 receives the distance image and the sensor signal transmitted from the on-board device of the mobile unit 10 via the antenna 24, and based on the received content, the time when the previous distance image was generated. Each pixel of the previous distance image is indicated as the distance data d by the moving object 10 moving from t1 until a predetermined time t smaller than the fixed time Δt, which is the interval of transmission of the distance image, elapses. To calculate the moving distance L1 that changes in the direction of the distance, or to change the vehicle body coordinate system XYZ at the time t1 when the previous distance image was generated from the time t1 by a predetermined time smaller than the fixed time Δt. Time t1 + t at which time t has elapsed
To the vehicle body coordinate system XYZ at the time t1, and the processing of calculating the three-dimensional coordinate position of each pixel of the previous distance image in the vehicle body coordinate system XYZ at the time t1 + t at which the predetermined time t has elapsed is performed. Based on the calculation unit 21 and the calculation result,
The distance data d of each pixel of the distance image is calculated as the moving distance L1
To generate a predicted distance image at time t1 + t during which the image transmission interval Δt elapses from time t1 when the previous distance image was generated, or the vehicle body coordinate system XYZ at time t1 + t. A predicted distance image generation unit that generates a predicted distance image at time t1 + t halfway through an image transmission interval Δt from time t1 when the previous distance image was generated based on the three-dimensional coordinate position of each pixel in the previous distance image 22 and a CRT for displaying the generated predicted distance image by inserting it between the previous distance image and the next distance image transmitted from the moving object 10.
And a display unit 23 such as a display.

In the monitoring station 20, the presence or absence of an obstacle existing in front of the moving body 10 is determined by an operator based on the distance image displayed on the display unit 23 or based on a further image processing of the distance image. When the drive control signal is transmitted through the antenna 24,
Is remotely controlled, and the traveling of the moving body 10 is drive-controlled.

Here, the measuring section 12 can be constituted by a speed sensor for detecting the speed V of the moving body 10.

In another embodiment, the measuring unit 12
It can be composed of a position sensor such as a GPS (global positioning sensor) that detects the three-dimensional position of the moving body 10, a speed sensor that detects the three-dimensional speed of the moving body 10, and an angular velocity sensor such as a gyro. For example, a yaw rate gyro that detects the yawing angle of the vehicle body of the moving body 10 in the yaw direction and two inclinometers that detect the pitching angle and the rolling angle of the vehicle body can be configured. , The rotation angle of the vehicle body representing the rotation angle of the coordinate axis of the vehicle body coordinate system XYZ at the time t1 + t at the time t1 + t after the time t1 with respect to the coordinate axis of the vehicle body coordinate system XYZ at the time t1 ( RX0, RY0, RZ0) are output. The origin position (Vx · t, Vy of the vehicle body coordinate system XYZ at time t1 + t viewed in the vehicle body coordinate system XYZ at time t1)
.T, Vz.t) can be obtained from the output V (Vx, Vy, Vz) of the speed sensor at time t1 + t. In addition, it can be obtained as an output of a position sensor such as a GPS.

In the distance image generation unit 11, for example, FIG.
A traveling road surface 31 as shown in FIG.
A distance image 40 including a tree 32, a house 33, and another vehicle 34 existing along is generated. Each pixel 5 of the distance image 40
0 corresponds to a two-dimensional coordinate position (i, j) in the ij two-dimensional coordinate system and three-dimensional data (i, j, d) indicating a distance d from the reference position (reference plane) of the moving object 10. The pixel at each position i, j of the distance image 40 has brightness corresponding to the distance d. The brightness of the pixel 50 increases as the distance d decreases, and becomes brighter (whiter on the screen). As a method of distance measurement for generating such a three-dimensional distance image, for example, a method using a multi-lens lens (multi-lens camera) disclosed in Japanese Patent Application No. 7-200999 can be used.

The processing performed by the calculation unit 21 and the predicted distance image generation unit 22 of the monitoring station 20 will be described below with reference to the flowchart of FIG.

First Embodiment In this embodiment, as shown in FIG. 4, it is assumed that the moving body 10 is traveling straight on a running path 31 which is a straight road.
In particular, this embodiment is suitable for a case where the vehicle is traveling straight, and can generate a predicted distance image by a simple process with a simple configuration. In this embodiment, the measuring unit 12
It can be constituted only by the speed sensor.

As shown in FIG. 5, the monitoring station 20 receives a distance image 40 (referred to as a previous distance image) at time t1. At time t2 when a time Δt has elapsed from time t1, the next distance image 41 is received (step 101: see FIGS. 5A and 5B).

Next, based on the received sensor signal, that is, the output V of the speed sensor, the moving object 10 from the time when the previous distance image 40 was generated until a predetermined time t (<Δt) has elapsed. Is calculated by the following equation.

L1 = V · t (5) (Step 102) The distance image obtained when the time t has elapsed from the previous distance image 40 is closer to the previous distance image 40 as a whole by the moving distance L1. Should be. Therefore, a process of subtracting the calculated moving distance L1 from the distance data d of the pixel 50 of the previous distance image 40 is performed.
Is changed from d to d-L1. This subtraction process is performed for all pixels. When the distance data changes to a negative value, the distance data may be set to 0. As a result, as shown in FIG. 5C, the image transmission interval Δt starts at time t1 when the previous distance image 40 was generated.
Distance image 4 at time t1 + t in the middle of
2 is generated (step 103).

The predicted distance image 42 may be generated as not only one frame but also two or more frames at different times t as the predicted distance images 42, 43, 44,.

The predicted distance images thus generated, for example, predicted distance images 42, 43, 44,
45, 46, as shown in FIG.
And the distance image 41 transmitted from the moving body 10 and displayed on the display unit 23.

As a result, a real-time image of, for example, a video rate of 30 frames / second is displayed on the display unit 23, and the low image transmission capability (image transmission at Δt intervals) can be sufficiently compensated. Then, the operator remotely controls the mobile unit 1 based on the real-time image, thereby
The remote operability of 0 will be greatly improved.

Second Embodiment In this embodiment, as shown in FIG. 7, it is assumed that the moving body 10 is running on a running path 31 which is a curved road.

In this embodiment, the measuring section 12 is constituted by sensors for detecting a position change in each direction and a posture change in each direction, such as a speed sensor (or a position sensor) and an angular speed sensor. Hereinafter, description will be made with reference to the flowchart shown in FIG.

As shown in FIG. 8, the monitoring station 20 receives the distance image 60 at time t1. At time t2 when a time Δt has elapsed from time t1, the next distance image 61 is received (step 201: FIG. 8A,
(B)).

Hereinafter, based on the received sensor signal,
The vehicle body coordinate system XYZ at the time t1 when the previous distance image 60 was generated is converted into the vehicle body coordinate system XYZ at the time t1 + t at which a predetermined time t has elapsed from the time t1. The three-dimensional coordinate position of each pixel of the previous distance image 60 in the vehicle body coordinate system XYZ at the time t1 + t when t has elapsed is calculated, and the previous distance image in the vehicle body coordinate system XYZ at the time t1 + t is calculated. 3 of 60 pixels
Based on the dimensional coordinate position, a process of generating a predicted distance image 62 at a time t1 + t in the middle of the image transmission interval Δt from the time t1 when the previous distance image 60 was generated is executed.

First, since the three-dimensional information (i, j, d) is associated with each pixel 50 of the distance image 60 as described above, the distance image data (i, j, d) 6 and 7, the three-dimensional coordinate position data on the vehicle body coordinate system XYZ with the origin at a predetermined position of the moving body 10 as shown in FIGS. It can be converted into each pixel associated with (X, Y, Z). As a result, each pixel 50 of the distance image 60 (FIG. 6)
Point P) are three-dimensional coordinate positions (XP (t1), YP (t1), ZP on the vehicle body coordinate system XYZ at time t1).
(T1)) (step 202).

Further, based on the received sensor signal, the rotation angles (RX0, RY0, RZ0) of the vehicle body from time t1 to time t1 + t described above, and the vehicle body coordinates at time t1 + t as viewed from the vehicle body coordinate system at time t1 System XY
The origin position (−Vx · t, Vy · t, Vz · t) of −Z is obtained. The amount of change (Vx · t, Vy · t, Vz · t) between the time t1 and the time t1 + t can be obtained by calculation based on the output V (Vx, Vy, Vz) of the speed sensor at the time t1 + t. Alternatively, it may be determined based on the position at time t1 and the position at time t1 + t output from a position sensor such as GPS (step 203).

Next, the rotation angles (RX0, RY0, RZ0) of the vehicle body from time t1 to time t1 + t, the origin position of the vehicle body coordinate system XYZ at time t1 + t viewed from the vehicle body coordinate system at time t1 (Vx · t, Vy · t, V
As shown in FIG. 6, the coordinate position (XP (t) of the pixel 50 (point P) on the vehicle body coordinate system at time t1 is calculated using
1), YP (t1), ZP (t1)) and the coordinate position (XP) of the same pixel 50 (point P) in the vehicle body coordinate system at time t1 + t.
The relationship with (t1 + t), YP (t1 + t), ZP (t1 + t) is obtained as in the following equation (1).

[0050] Here, in the above equation (1), MR0 is a rotation matrix of the vehicle body coordinate system, and the rotation angles of the vehicle body (RX0, RY
0, RZ0), and is represented by the following equation (2).

[0051] Therefore, from the above equation (1), the coordinate position (XP (t) of the pixel 50 (point P) in the vehicle body coordinate system at time t1 is obtained.
1), YP (t1), ZP (t1)) are converted to the coordinate positions (XP (t1 + t), YP
(T1 + t), ZP (t1 + t)) can be converted as follows.

[0052] The above conversion is performed for all the pixels of the distance image 60 (Step 204).

Then, the three-dimensional coordinate position (XP (t1 + t),
A process of converting YP (t1 + t) and ZP (t1 + t) again into distance image data (i, j, d) is executed.
In this case, only the three-dimensional coordinates existing within the angle of view of the camera are selected, and the selected three-dimensional coordinates are returned to the distance image data. Thus, the three-dimensional coordinate position of each pixel 50 is
It is converted into the distance d and the coordinates i, j in the screen.
As shown in FIG. 8C, a predicted distance image 62 is generated at time t1 + t during the image transmission interval Δt from the time t1 when the previous distance image 60 was generated (step 205).

The predicted distance image 62 is not limited to one frame, and two or more frames may be generated as the predicted distance images 62, 63, 64...

The predicted distance images thus generated, for example, predicted distance images 62, 63, 64,
As shown in FIG. 3, 65 and 66 are distance images 60 of the previous distance.
And the distance image 61 transmitted from the moving body 10 and displayed on the display unit 23.

As a result, a real-time image of, for example, a video rate of 30 frames / second is displayed on the display unit 23, and the low image transmission capability (image transmission at Δt intervals) can be sufficiently compensated. Then, the operator remotely controls the mobile unit 1 based on the real-time image, thereby
The remote operability of 0 will be greatly improved.

By the way, as shown in FIG.
When a distance image is transmitted from 0 to the monitoring station 20, there is actually a transmission delay time Td required for transmission. Therefore, the image at the present time can be displayed on the display unit 23 as the predicted distance image in consideration of the delay time Td. That is, as shown in FIG. 10, assuming that the previous distance image 60 was generated at time t1 by the moving object 10, the transmission delay time Td is estimated by the above-described processing based on the distance image 60. The monitoring station 20 generates a predicted distance image 62 at time t1 + t, which is the time t elapsed from the time t1. Then, the previous distance image 60 is
When the time t-Td elapses after being displayed at the time t1 + Td on the display unit 23, the predicted distance image 62 at the time t1 + t is displayed. Other predicted distance images 63, 6
4, 65 are displayed in the same manner. As a result, the current distance images 62, 63, 64, and 65 are displayed on the monitoring station 20, and the remote operability of the mobile unit 10 by the operator is further improved.

Note that this method may be applied to the above-described first embodiment.

It is also possible to change the viewpoint of the distance image displayed on the display unit 23 of the monitoring station 20 to a desired viewpoint.

In this case, a process of changing the origin position of the vehicle body coordinate system XYZ at time t1 + t before conversion into the distance image 62 by a desired amount in the desired coordinate axis direction may be performed.

Specifically, when the viewpoint of the distance image displayed on the display unit 23 is to be raised by H and the viewpoint of the operator is to be raised by H, the following expression (4) is added to the right side of the above equation (3).
Just add an expression.

[0062] Thus, the body coordinate system XYZ at time t1 + t
Is changed by H in the vertical Y-axis direction, the viewpoint of the distance image displayed on the display unit 23, that is, the viewpoint of the operator is moved upward by H.

By applying this method, an image of a desired viewpoint can be displayed only by simple processing without providing a complicated mechanism for moving the position of the camera. Therefore, the remote operability of the moving body 10 by the operator is further improved.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration example of a mobile remote control device according to an embodiment of the present invention.

FIG. 2 is a flowchart illustrating a procedure of a process executed by the monitoring station illustrated in FIG. 1;

FIG. 3 is a diagram schematically showing a relationship between a distance image transmitted from a moving object and a predicted distance image.

FIG. 4 is a diagram illustrating a state in which a moving object travels from above.

5 (a), 5 (b), and 5 (c) are views showing a distance image and a predicted distance image obtained when the moving object travels on the traveling path shown in FIG.

FIG. 6 is a diagram showing a relationship between a vehicle body coordinate system at a certain time and a vehicle body coordinate system at a time when a predetermined time has elapsed from this time.

FIG. 7 is a diagram illustrating a state in which the moving body travels from above.

8 (a), 8 (b) and 8 (c) are views showing a distance image and a predicted distance image obtained when the moving object travels on the traveling path shown in FIG. 7;

FIG. 9 is a flowchart illustrating a procedure of another process executed by the monitoring station illustrated in FIG. 1;

FIG. 10 is a diagram used to explain a process of displaying a current image as a predicted distance image at a monitoring station.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Moving body 11 Distance image generation part 12 Measurement part 13 Image transmitter 14 Sensor signal transmitter 20 Monitoring station 21 Operation part 22 Predicted distance image generation part 23 Display part

──────────────────────────────────────────────────続 き Continued on front page (51) Int.Cl. ⁶ Identification code FI // G01C 21/00 G08C 17/00 A

Claims (6)

[Claims] An image pickup apparatus mounted on a moving body, which picks up an image of an outside of the moving body, transmits a captured image to a monitoring station at predetermined time intervals, and based on the captured image received by the monitoring station, the moving body. In the remote control device for a mobile object, the distance image generation means for measuring a distance from a reference position to an object outside the mobile object and generating a distance image of the object is provided as the imaging device. Along with the moving body, a measuring means for measuring a change in the position of the moving body, and a transmitting means for transmitting the measurement result of the measuring means to the monitoring station, further provided, the monitoring station, Calculating means for calculating a moving distance of the moving body from a time when a previous distance image is generated by the distance image generating means until a predetermined time smaller than the predetermined time elapses, based on the measurement result; The distance data of each pixel of the distance image is changed by the moving distance based on the calculation result of the calculating means, whereby the predicted distance image in the middle of the predetermined time from the time when the previous distance image was generated is calculated. And a predicted distance image generated by the predicted distance image generating means is inserted and displayed between the previous distance image and the distance image transmitted from the moving object. A remote control device for a mobile object, the display device comprising: 2. An image pickup apparatus mounted on a moving body, which picks up an image of an outside of the moving body, transmits a captured image to a monitoring station at predetermined time intervals, and based on the captured image received by the monitoring station, the moving body. In the remote control device for a mobile body, the distance from a reference position to an object outside the mobile body is measured, and each pixel is moved along with the mobile body. A distance image generating means for generating a distance image associated with the three-dimensional coordinate position; a measuring means for measuring a change in position and orientation of the moving body in each direction; Transmitting means for transmitting a result to the monitoring station, and further comprising, in the monitoring station, a vehicle body coordinate system at a time point when a previous distance image was generated by the distance image generating means based on a measurement result of the measuring means. Is converted to the vehicle body coordinate system at the time when a predetermined time smaller than the predetermined time has elapsed from the time, and the three-dimensional coordinate position of each pixel of the previous distance image in the vehicle body coordinate system at the time when the predetermined time has elapsed is calculated. Calculating means for calculating, and a point in time when the previous distance image is generated based on the three-dimensional coordinate position of each pixel of the previous distance image in the vehicle body coordinate system at the time when the predetermined time calculated by the calculating means has elapsed A predicted distance image generating means for generating a predicted distance image in the middle of elapse of the predetermined time, and a predicted distance image generated by the predicted distance image generating means, which is transmitted from the previous distance image and next from the moving body. And a display means for inserting and displaying a distance image between the moving object and the moving distance image. 3. When the transmission delay time required to transmit a distance image from the mobile unit to the monitoring station is Td, and the time at which the previous distance image was generated is t1, a time that allows for the transmission delay time Td. A predicted distance image at time t1 + t that has elapsed from time t1 by time t is generated, and the predicted distance image at time t1 + t has elapsed at time t−Td since the previous distance image was displayed at time t1 + Td on the display unit of the monitoring station. The remote control device for a mobile object according to claim 1 or 2, wherein an image is displayed. 4. The remote control device for a mobile object according to claim 1, wherein said measuring means is a speed sensor for detecting a speed of the mobile object. 5. The measuring means is a combination of a position sensor for detecting a position of the moving body or a speed sensor for detecting a speed of the moving body, and a posture angle sensor for detecting a posture angle of the moving body. Item 3. A remote control device for a mobile object according to Item 2. 6. The viewpoint of a distance image displayed on the display means is moved by performing a process of changing an origin position of the vehicle body coordinate system by a predetermined amount in a predetermined coordinate axis direction. Mobile unit remote control device.